Research on iterative closest contour point for underwater terrain-aided navigation

Kedong Wang; Lei Yan; Wei Deng; Junhong Zhang

Research on iterative closest contour point for underwater terrain-aided navigation

Kedong Wang^*
, Lei Yan
, Wei Deng
, Junhong Zhang

^*Corresponding author for this work

School of Astronautics

Peking University
Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

9 Scopus citations

Abstract

In order to provide underwater vehicle high-precision navigation information for long time, the coordinate properties of underwater terrain can be used to aid inertial navigation system (INS) by matching algorithm. Behzad and Behrooz (1999) introduce iterative closest contour point (ICCP) from image registration to underwater terrain matching and provide its exact form and prove its validity with an example. Bishop (2002) proves its validity systemically. However, their research considers that the matching origin is known exactly while it is seldom satisfied in practice. Simulation results show that ICCP is easy to diverge when the initial INS error is very large (such as 3km). To overcome the drawback, two enhancements are put forward. (1) The matching origin is added into matching process; (2) The whole matching process is divided into two phases: the coarse and the accurate. The coarse matching rules include mean absolute difference (MAD) and mean square difference (MSD) which is usually applied in terrain contour matching (TERCOM). The accurate matching is the ICCP optimization. Simulation results show that the updated ICCP matches application conditions very well and it is convergent with very high precision. Especially, when INS precision is not high, the updated ICCP matching process is more stable and its precision is higher than TERCOM's.

Original language	English
Title of host publication	Structural, Syntactic, and Statistical Pattern Recognition - Joint IAPR International Workshops, SSPR 2006 and SPR 2006, Proceedings
Publisher	Springer Verlag
Pages	252-260
Number of pages	9
ISBN (Print)	3540372369, 9783540372363
State	Published - 2006
Event	Joint IAPR International Workshops on Structural, Syntactic, and Statistical Pattern Recognition, SSPR 2006 and SPR 2006 - Hong Kong, China Duration: 17 Aug 2006 → 19 Aug 2006

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	4109 LNCS
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	Joint IAPR International Workshops on Structural, Syntactic, and Statistical Pattern Recognition, SSPR 2006 and SPR 2006
Country/Territory	China
City	Hong Kong
Period	17/08/06 → 19/08/06

Keywords

ICCP
Map Matching
Pattern Recognition
TERCOM
TerrainAided Navigation

Cite this

Wang, K., Yan, L., Deng, W., & Zhang, J. (2006). Research on iterative closest contour point for underwater terrain-aided navigation. In Structural, Syntactic, and Statistical Pattern Recognition - Joint IAPR International Workshops, SSPR 2006 and SPR 2006, Proceedings (pp. 252-260). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4109 LNCS). Springer Verlag.

Wang, Kedong ; Yan, Lei ; Deng, Wei et al. / Research on iterative closest contour point for underwater terrain-aided navigation. Structural, Syntactic, and Statistical Pattern Recognition - Joint IAPR International Workshops, SSPR 2006 and SPR 2006, Proceedings. Springer Verlag, 2006. pp. 252-260 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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abstract = "In order to provide underwater vehicle high-precision navigation information for long time, the coordinate properties of underwater terrain can be used to aid inertial navigation system (INS) by matching algorithm. Behzad and Behrooz (1999) introduce iterative closest contour point (ICCP) from image registration to underwater terrain matching and provide its exact form and prove its validity with an example. Bishop (2002) proves its validity systemically. However, their research considers that the matching origin is known exactly while it is seldom satisfied in practice. Simulation results show that ICCP is easy to diverge when the initial INS error is very large (such as 3km). To overcome the drawback, two enhancements are put forward. (1) The matching origin is added into matching process; (2) The whole matching process is divided into two phases: the coarse and the accurate. The coarse matching rules include mean absolute difference (MAD) and mean square difference (MSD) which is usually applied in terrain contour matching (TERCOM). The accurate matching is the ICCP optimization. Simulation results show that the updated ICCP matches application conditions very well and it is convergent with very high precision. Especially, when INS precision is not high, the updated ICCP matching process is more stable and its precision is higher than TERCOM's.",

keywords = "ICCP, Map Matching, Pattern Recognition, TERCOM, TerrainAided Navigation",

author = "Kedong Wang and Lei Yan and Wei Deng and Junhong Zhang",

year = "2006",

language = "英语",

isbn = "3540372369",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

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booktitle = "Structural, Syntactic, and Statistical Pattern Recognition - Joint IAPR International Workshops, SSPR 2006 and SPR 2006, Proceedings",

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note = "Joint IAPR International Workshops on Structural, Syntactic, and Statistical Pattern Recognition, SSPR 2006 and SPR 2006 ; Conference date: 17-08-2006 Through 19-08-2006",

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Wang, K, Yan, L, Deng, W & Zhang, J 2006, Research on iterative closest contour point for underwater terrain-aided navigation. in Structural, Syntactic, and Statistical Pattern Recognition - Joint IAPR International Workshops, SSPR 2006 and SPR 2006, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 4109 LNCS, Springer Verlag, pp. 252-260, Joint IAPR International Workshops on Structural, Syntactic, and Statistical Pattern Recognition, SSPR 2006 and SPR 2006, Hong Kong, China, 17/08/06.

Research on iterative closest contour point for underwater terrain-aided navigation. / Wang, Kedong; Yan, Lei; Deng, Wei et al.
Structural, Syntactic, and Statistical Pattern Recognition - Joint IAPR International Workshops, SSPR 2006 and SPR 2006, Proceedings. Springer Verlag, 2006. p. 252-260 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4109 LNCS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Research on iterative closest contour point for underwater terrain-aided navigation

AU - Wang, Kedong

AU - Yan, Lei

AU - Deng, Wei

AU - Zhang, Junhong

PY - 2006

Y1 - 2006

N2 - In order to provide underwater vehicle high-precision navigation information for long time, the coordinate properties of underwater terrain can be used to aid inertial navigation system (INS) by matching algorithm. Behzad and Behrooz (1999) introduce iterative closest contour point (ICCP) from image registration to underwater terrain matching and provide its exact form and prove its validity with an example. Bishop (2002) proves its validity systemically. However, their research considers that the matching origin is known exactly while it is seldom satisfied in practice. Simulation results show that ICCP is easy to diverge when the initial INS error is very large (such as 3km). To overcome the drawback, two enhancements are put forward. (1) The matching origin is added into matching process; (2) The whole matching process is divided into two phases: the coarse and the accurate. The coarse matching rules include mean absolute difference (MAD) and mean square difference (MSD) which is usually applied in terrain contour matching (TERCOM). The accurate matching is the ICCP optimization. Simulation results show that the updated ICCP matches application conditions very well and it is convergent with very high precision. Especially, when INS precision is not high, the updated ICCP matching process is more stable and its precision is higher than TERCOM's.

AB - In order to provide underwater vehicle high-precision navigation information for long time, the coordinate properties of underwater terrain can be used to aid inertial navigation system (INS) by matching algorithm. Behzad and Behrooz (1999) introduce iterative closest contour point (ICCP) from image registration to underwater terrain matching and provide its exact form and prove its validity with an example. Bishop (2002) proves its validity systemically. However, their research considers that the matching origin is known exactly while it is seldom satisfied in practice. Simulation results show that ICCP is easy to diverge when the initial INS error is very large (such as 3km). To overcome the drawback, two enhancements are put forward. (1) The matching origin is added into matching process; (2) The whole matching process is divided into two phases: the coarse and the accurate. The coarse matching rules include mean absolute difference (MAD) and mean square difference (MSD) which is usually applied in terrain contour matching (TERCOM). The accurate matching is the ICCP optimization. Simulation results show that the updated ICCP matches application conditions very well and it is convergent with very high precision. Especially, when INS precision is not high, the updated ICCP matching process is more stable and its precision is higher than TERCOM's.

KW - ICCP

KW - Map Matching

KW - Pattern Recognition

KW - TERCOM

KW - TerrainAided Navigation

UR - https://www.scopus.com/pages/publications/33749597745

M3 - 会议稿件

AN - SCOPUS:33749597745

SN - 3540372369

SN - 9783540372363

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 252

EP - 260

BT - Structural, Syntactic, and Statistical Pattern Recognition - Joint IAPR International Workshops, SSPR 2006 and SPR 2006, Proceedings

PB - Springer Verlag

T2 - Joint IAPR International Workshops on Structural, Syntactic, and Statistical Pattern Recognition, SSPR 2006 and SPR 2006

Y2 - 17 August 2006 through 19 August 2006

ER -

Wang K, Yan L, Deng W, Zhang J. Research on iterative closest contour point for underwater terrain-aided navigation. In Structural, Syntactic, and Statistical Pattern Recognition - Joint IAPR International Workshops, SSPR 2006 and SPR 2006, Proceedings. Springer Verlag. 2006. p. 252-260. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

Research on iterative closest contour point for underwater terrain-aided navigation

Abstract

Publication series

Conference

Keywords

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